Self-moving robot

ABSTRACT

A self-moving robot includes a shell, a driving module, driving the self-moving robot to move on the ground; a mowing module, executing mowing work; an energy module, providing energy for the self-moving robot; a control module, controlling the self-moving robot to automatically move and execute work, the self-moving robot further includes a cleaning module executing ground cleaning work; the self-moving robot has a mowing mode and a cleaning mode, under the mowing mode, the control module controls the self-moving robot to execute mowing work, and under the cleaning mode, the control module controls the self-moving robot to execute cleaning work.

RELATED APPLICATIONS

This application claims priority to U.S. patent application Ser. No.15/528,261 which is incorporated by reference in its entirety.

BACKGROUND Technical Field

The present invention relates to a self-moving robot. The presentinvention particularly relates to a modularized self-moving robot.

Related Art

Automated household devices, for example, automatic dust collectors,have an automatic working program, and can work automatically withoutmanual operation and control from beginning to end. In virtue of theseautomated household devices, people can be liberated from tedious andtime-consuming household tasks and obtain more leisure time. Suchautomated household devices are also called as automatic workingdevices, automated robots, etc. Specific to various requirements ofhousehold users, various specialized automatic robots, such as automaticdust collectors, automatic security and protection robots, automaticmowers, automatic irrigators, etc., are emerged in larger numbers atpresent. The problem emerged therewith is that the user needs topurchase different automatic devices for meeting different demands, forexample, the user may dispose the automatic dust collector and securityand protection robot indoors simultaneously, and dispose the automaticmower, the automatic irrigator, an automatic blower outdoorssimultaneously, etc. As a result, firstly high expense is caused, andsecondly, a household environment is disordered. Usually, a chargingstation and related wires are required to be singly disposed for everykind of automatic device, for outdoor machines, different border signallines are also required to be disposed for different systems, and theseborder signal lines may generate mutual interference.

In hot summer, water content in the lawn will be fast evaporated, as aresult, the soil is dried, vegetation is lack of water, for which theautonomous mower is also helpless, and the user needs to spend time andlabor to water and is suffered unspeakably; for another example, theuser needs to apply a liquid fertilizer to the lawn in person.Therefore, in addition to the automatic mowing function, other functionsare also available, such that the autonomous mower which can furtherreduce the labor intensity of the user is very expected.

Therefore, some manufacturers attempt to design and manufacture anautomatic working device integrating multiple functions, and differentworking modules required for finishing different pieces of work areintegrated into one machine body. However, the integrated automaticworking device also has lots of defects. At first, the machine isdifficult to design and manufacture, a fault rate is high, and amaintenance cost in later stage is larger; secondly, a machine cost ishigh, a price is high and product popularization is affected; thirdly,the machine size is huge, the weight is heavy, increased energyconsumption is caused, working time after charging one time is short,and working efficiency is affected. Fourthly, the user may need to paythe bill for some functions which are not required actually.

SUMMARY

In view of this, an objective of the present invention is to provide aself-moving robot integrating multiple functions in a whole.

A technical solution adopted by the present invention to solve theexisting technical problem is: the embodiment of the present inventionprovides:

A self-moving robot comprises a shell, a driving module, driving theself-moving robot to move on the ground; a mowing module, executingmowing work; an energy module, providing energy for the self-movingrobot; a control module, controlling the self-moving robot toautomatically move and execute work, wherein the self-moving robotfurther comprises a cleaning module executing ground cleaning work; theself-moving robot has a mowing mode and a cleaning mode, under themowing mode, the control module controls the self-moving robot toexecute mowing work, and under the cleaning mode, the control modulecontrols the self-moving robot to execute cleaning work.

In one embodiment, the self-moving robot also comprises a groundrecognizing unit, which collects ground information of a target area andjudges the target ground to be a grassland or road surface.

In one embodiment, the control module, according to a recognized resultof the ground recognizing unit on the target area, controls theself-moving robot to be kept on the grassland under the mowing mode toexecute mowing work and to be kept on the road surface under thecleaning mode to execute cleaning work.

In one embodiment, the control module, according to a recognized resultof the ground recognizing unit on the target area, is switched to thecleaning mode from the mowing mode when the self-moving robot moves tothe road surface from the grassland; and is switched to the mowing modefrom the cleaning mode when the self-moving robot moves to the grasslandfrom the road surface.

In one embodiment, the control module, according to a recognized resultof the ground recognizing unit on the target area, controls theself-moving robot to be in the mowing mode when it is on the grassland,and controls the self-moving robot to be in the cleaning mode when it ison the road surface.

In one embodiment, the ground recognizing unit comprises a camera and arecognizing element connected to the camera; the camera captures aground image of the target area and transmits to the recognizing unit, aground type judging algorithm is preset in the recognizing element, andthe recognizing element extracts image features and transmits to theground type judging algorithm to judge the target area to be thegrassland or road surface.

In one embodiment, the ground recognizing unit comprises a groundhardness sensor and a recognizing element connected to the groundhardness sensor; the ground hardness sensor collects the ground hardnessinformation of the target area and transmits the recognizing element, aground type judging algorithm is preset in the recognizing element, andthe recognizing element inputs the ground hardness information to theground type judging algorithm to judge the target area to be thegrassland or road surface.

In one embodiment, the control module comprises a mode control unit,which controls the self-moving robot to be switched between the mowingmode and the cleaning mode according to a preset program.

In one embodiment, the mode control unit allocates time when theself-moving robot is in the mowing mode and time when the self-movingrobot is in the cleaning mode according to date or season information.

In one embodiment, the cleaning module is a leaf cleaning moduleconfigured to clean leaves.

In one embodiment, the leaf cleaning module is a blowing module, an airsucking module or sweeping module.

In one embodiment, the cleaning module is detachably mounted on theshell.

Compared with the prior art, the embodiment of the present invention hasthe beneficial effects: the self-moving robot has the mowing modulewhich can realize an automatic mowing function and also has the cleaningmodule which can realize an automatic ground cleaning function. The usercan use one machine for multiple purposes, and cost is reduced. Theself-moving robot judges whether the target area is the grassland or theroad surface by the ground type recognizing unit, so as to automaticallyswitch the mowing working mode or the cleaning mode, and use efficiencyof the machine is improved.

Another objective of the present invention is to provide a self-movingrobot system which is low in cost and have many functions.

A technical solution adopted by the present invention to solve theexisting technical problem is: the embodiment of the present inventionprovides a self-moving robot, comprising a self-moving module and atleast one of a plurality of interchangeable working modules connected tothe self-moving module, wherein the self-moving robot comprises acontrol unit, a first energy unit, a first walking unit and a firstinterface unit, and the control unit executes a predetermined command tocontrol the self-moving robot to operate; the first energy unitcomprises a chargeable battery, providing energy for the self-movingmodule or the self-moving robot; the first walking unit assists theself-moving module in walking; the working module comprises a firstworking unit, a second walking unit and a second interface unit, thefirst working unit executes a specific type of work, and the secondwalking unit assists the working module in walking; the first interfaceunit and the second interface unit can be correspondingly matched andconnected to connect the working module onto the self-moving module, theself-moving robot is characterized in that the working module furthercomprises a second energy unit, the first energy unit comprises achargeable battery, and the second energy unit provides energy for theworking module or the self-moving robot.

In one embodiment, the self-moving module further comprises a secondworking unit, executing a specific type of work.

In one embodiment, the working module is provided with a charginginterface, and the charging interface can be connected to an externalpower source interface to receive charged electric energy.

In one embodiment, the charging interface and the power source interfaceare both wireless charging interfaces.

In one embodiment, the first interface unit comprises a first energyinterface, a first control interface and a first mechanical interface;the second interface unit comprises a second energy interface, a secondcontrol interface and a second mechanical interface, when the firstinterface unit and the second interface unit are matched and connected,the first energy interface and the second energy interface are jointedto transmit energy between the self-moving module and the workingmodule, the first control interface and the second control interface arejointed to transmit signals between the self-moving module and theworking module and the first mechanical interface and the secondmechanical interface are jointed to connect the self-moving module andthe working module together.

In one embodiment, the self-moving module comprises a charginginterface, and the working module is connected to an external powersource interface through the second energy interface, the first energyinterface and the charging interface to receive charged electric energy.

In one embodiment, the charging interface comprises a first chargingcontact group and a second charging contact group, the first chargingcontact group is connected to the first energy unit to charge the same,and the second charging contact group is connected to the second energyunit through the first energy interface and the second energy interfaceto charge the second energy unit.

In one embodiment, the self-moving module further comprises a detectingunit, the detecting unit detects the working module and sends a detectedresult to the control unit; the control unit judges whether the workingmodule required to be connected is detected according to the detectedresult, and when the judged result is yes, the control unit controls afirst walking unit to walk, such that the self-moving module isconnected to the working module required to be connected.

In one embodiment, the working module is at least one of a mower module,a sweeper module, a snow sweeper module, a blowing-sucking machinemodule, a fertilizer module and a sprinkler module.

In one embodiment, the control unit monitors an energy level of thefirst energy unit and the second energy unit, and controls the secondenergy unit to provide energy for the working module when the energylevel of the second energy unit is larger than a first threshold; andcontrols the first energy unit to provide energy for the working modulewhen the energy level of the second energy unit is smaller than thefirst threshold and the energy level of the first energy unit is largerthan a second threshold.

In one embodiment, the self-moving module also comprises a detectingunit, the detecting unit detects a working module and sends a detectedresult to the control unit; the control unit judges whether the workingmodule required to be connected is detected according to the detectedresult, and when the judged result is yes, the control unit controls afirst walking unit to walk, such that the self-moving module isconnected to the working module required to be connected.

In one embodiment, the working module or a parking location of theworking module is provided with a working module identifiercorresponding to the working module, and the detecting module detectsthe working module by detecting the working module identifier.

In one embodiment, the working module identifier is an RFID label andthe detecting module is an RFID reader.

In one embodiment, the working module identifier is an image label, andthe detecting module is an image capturing device.

In one embodiment, the image identifier is a bar code or two-dimensionalcode.

In one embodiment, the self-moving robot also comprises a guiding unit,the guiding unit outwards extends from the parking location of theworking module, the self-moving module also comprises a guidance sensingunit, the guidance detecting unit detects a location of the guiding unitand sends a detected result to the control unit, and the control unitwalks along the guiding unit according to the received detected resultto approach to the working module.

In one embodiment, the guiding unit is an electric signal wire or metalguide rail; and the guidance detecting unit corresponds to an electricsignal sensing unit or a metal sensing unit.

In one embodiment, a first interface unit comprises a first energyinterface, a first control interface and a first mechanical interface; asecond interface unit comprises a second energy interface, a secondcontrol interface and a second mechanical interface, when the firstinterface unit and the second interface unit are matched and connected,the first energy interface and the second energy interface are jointedto transmit energy between the self-moving module and the workingmodule, the first control interface and the second control interface arejointed to transmit signals between the self-moving module and theworking module and the first mechanical interface and the secondmechanical interface are jointed to connect the self-moving module andthe working module together.

In one embodiment, the control module optionally controls the firstmechanical interface and the second mechanical interface to establish orremove the connection.

In one embodiment, one of the first mechanical interface and the secondmechanical interface is provided with an electromagnet and the other oneis provided with a material capable of attracting the electromagnet, andthe control module optionally controls the first mechanical interfaceand the second mechanical interface to establish or remove connection bycontrolling a polarity of the electromagnet.

Compared with the prior art, the embodiment of the present invention hasthe beneficial effects: the self-moving robot can execute various typesof working tasks in a working area in an unattended manner by disposingthe self-moving module and the interchangeable working modules, and bydisposing the single energy unit for the working module, the workingmodule is sufficient in energy and long in duration.

The embodiment of the present invention further provides a self-movingrobot, comprising a self-moving module and at least one of a pluralityof interchangeable working modules connected to the self-moving module,wherein the self-moving module comprises a control unit, a first energyunit, a first walking unit and a first interface unit, and the controlunit executes a predetermined command to control the self-moving robotto operate; the walking unit assists the self-moving module in walking;the working module comprises a first working unit, a second walking unitand a second interface unit, the first working unit executes a specifictype of work, and the second walking unit assists the working module inwalking; the first interface unit and the second interface unit can becorrespondingly matched and connected to connect the working module ontothe self-moving module, and the self-moving module further comprises adetecting unit, which detects the working module and sends a detectedresult to the control unit; the control unit judges whether the workingmodule required to be connected is detected according to the detectedresult, and when the judged result is yes, the control unit controls thefirst walking unit to walk such that the self-moving module is connectedto the working module required to be connected.

In one embodiment, the working module or a parking location of theworking module is provided with a working module identifiercorresponding to the working module, and the detecting module detectsthe working module by detecting the working module identifier.

In one embodiment, the working module identifier is an RFID label andthe detecting module is an RFID reader.

In one embodiment, the working module identifier is an image label, andthe detecting module is an image capturing device.

In one embodiment, the image identifier is a bar code or two-dimensionalcode.

In one embodiment, the self-moving robot also comprises a guiding unit,the guiding unit outwards extends from the parking location of theworking module, the self-moving module also comprises a guidance sensingunit, the guidance detecting unit detects a location of the guiding unitand sends a detected result to the control unit, and the control unitwalks along the guiding unit according to the received detected resultto approach to the working module.

In one embodiment, the guiding unit is an electric signal wire or metalguide rail; and the guidance detecting unit corresponds to an electricsignal sensing unit or a metal sensing unit.

In one embodiment, a first interface unit comprises a first energyinterface, a first control interface and a first mechanical interface; asecond interface unit comprises a second energy interface, a secondcontrol interface and a second mechanical interface, when the firstinterface unit and the second interface unit are matched and connected,the first energy interface and the second energy interface are jointedto transmit energy between the self-moving module and the workingmodule, the first control interface and the second control interface arejointed to transmit a signal between the self-moving module and theworking module and the first mechanical interface and the secondmechanical interface are jointed to connect the self-moving module andthe working module together.

In one embodiment, the control module optionally controls the firstmechanical interface and the second mechanical interface to establish orremove the connection.

In one embodiment, one of the first mechanical interface and the secondmechanical interface is provided with an electromagnet and the other oneis provided with a material capable of attracting the electromagnet, andthe control module optionally controls the first mechanical interfaceand the second mechanical interface to establish or remove connection bycontrolling a polarity of the electromagnet.

In one embodiment, the working module further comprises a second energyunit, the first energy unit comprises a chargeable battery, and thesecond energy unit provides energy for the working module or theself-moving robot.

In one embodiment, the self-moving module further comprises a secondworking unit, executing a specific type of work.

In one embodiment, the working module is provided with a charginginterface, which can be connected to an external power source interfaceto receive charged electric energy.

In one embodiment, the charging interface and the power source interfaceare both wireless charging interfaces.

In one embodiment, the self-moving module comprises a charginginterface, and the working module is connected to the external powersource interface through the second energy interface, the first energyinterface and the charging interface to receive charged electric energy.

In one embodiment, the charging interface comprises a first chargingcontact group and a second charging contact group, the first chargingcontact group is connected to the first energy unit to charge the same,and the second charging contact group is connected to the second energyunit through the first energy interface and the second energy interfaceto charge the second energy unit.

In one embodiment, the self-moving module further comprises a detectingunit, the detecting unit detects the working module and sends a detectedresult to the control unit; the control unit judges whether the workingmodule required to be connected is detected according to the detectedresult, and when the judged result is yes, the control unit controls afirst walking unit to walk, such that the self-moving module isconnected to the working module required to be connected.

In one embodiment, the working module is at least one of a mower module,a sweeper module, a snow sweeper module, a blowing-sucking machinemodule, a fertilizer module and a sprinkler module.

In one embodiment, the control unit monitors an energy level of thefirst energy unit and the second energy unit, and controls the secondenergy unit to provide energy for the working module when the energylevel of the second energy unit is larger than a first threshold; andcontrols the first energy unit to provide energy for the working modulewhen the energy level of the second energy unit is smaller than thefirst threshold and the energy level of the first energy unit is largerthan a second threshold.

Compared with the prior art, the embodiment of the present invention hasthe beneficial effects: the self-moving robot executes various types ofworking tasks in the working area in an unattended manner by disposingthe self-moving module, the interchangeable working modules andautomatically seeking for the required working module, and the machinehas multiple functions, is high in flexibility and simple in operation.

In order to overcome defects of the prior art, the embodiment of thepresent invention aims to provide an autonomous mower system which hasan automatic liquid sprinkling function in addition to an automaticmowing function, and enables the user to be liberated from the work oflawn maintenance.

In order to solve the problem above, a technical solution of theembodiment of the present invention is: an autonomous mower system,comprising a dock and an autonomous mower configured to automaticallywalk and mow on the ground, the autonomous mower comprises a shell, acontaining cavity being formed in the shell and the shell comprising ashell bottom and an opposite shell top; a walking motor mounted in thecontaining cavity; a cutting motor mounted in the containing cavity; awheel set mounted on the shell bottom and driven by the walking motor todrive the autonomous mower walk; a cutting part mounted on the shellbottom and driven by the current motor to execute cutting work; anenergy unit providing energy for the autonomous mower; a controllermounted in the containing cavity and controlling the autonomous mower toautomatically walk and mow; and a liquid sprinkling device controlled bythe controller to execute sprinkling work.

In one embodiment, the liquid sprinkling device comprises a liquid boxmounted in the containing cavity for containing liquid and a pipelinecommunicated with the liquid box, the pipeline extends out of the shellfrom the containing cavity, and the controller is configured to controlthe liquid in the liquid box to enter into and exit from the pipeline.

In one embodiment, the autonomous mower comprises a liquid levelmonitoring module, which is configured to monitor a liquid content inthe liquid box, and the controller judges whether liquid is required tobe replenished to the liquid box according to the liquid content.

In one embodiment, the dock is connected to a liquid supplying pipeconfigured to replenish the liquid to the liquid box.

In one embodiment, the pipeline comprises a first pipeline for liquidfeeding and a second pipeline for liquid sprinkling, and the liquidsupplying pipe is jointed with the first pipeline.

In one embodiment, the first pipeline extends out behind the shell, andthe second pipeline extends out above the shell.

In one embodiment, the autonomous mower further comprises a liquid pumpmounted in the containing cavity, and the liquid pump is controlled bythe controller to discharge the liquid in the liquid box from thepipeline optionally.

In one embodiment, the autonomous mower comprises an image capturingmodule, which shoots a front area of the autonomous mower and generatesa picture corresponding to the front area; and the controller analyzesthe picture to determine a location and path of the autonomous mower.

In one embodiment, the autonomous mower comprises a locating device,recording walking coordinates when the autonomous mower executessprinkling work, the controller analyzes the coordinates and judgeswhether liquid has been sprinkled at the coordinates, and if no, thecontroller controls the autonomous mower to perform the sprinkling work.

The autonomous mower according to the embodiment of the presentinvention integrates the automatic mowing and liquid sprinklingfunctions, functions of the autonomous mower are expanded and people'slives are simplified.

The technical problem to be solved by the embodiment of the presentinvention is to provide an autonomous mower which has an automaticliquid sprinkling function expect for an automatic mowing function, andenables the user to be liberated from the work of lawn maintenance.

In order to solve the problem above, a technical solution of theembodiment of the present invention is: an autonomous mower configuredto automatically walk and mow on the ground, the autonomous mowercomprises a shell, a containing cavity being formed in the shell and theshell comprising a shell bottom and an opposite shell top; a walkingmotor mounted in the containing cavity; a cutting motor mounted in thecontaining cavity; a wheel set mounted on the shell bottom and driven bythe walking motor to drive the autonomous mower walk; a cutting partmounted on the shell bottom and driven by the current motor to executecutting work; an energy unit providing energy for the autonomous mower;a controller mounted in the containing cavity and controlling theautonomous mower to automatically walk and mow; and a liquid sprinklingdevice controlled by the controller to execute sprinkling work.

Compared with the prior art, the autonomous mower of the embodiment ofthe present invention is provided with the liquid sprinkling device inthe containing cavity in addition to basic functions of automaticwalking and mowing, automatic returning for charging, etc., in thisprocess, the autonomous mower can finish the liquid sprinkling workspontaneously without direct manual control and operation, manualoperation is greatly reduced, time and labor are saved, such that theuser can be liberated from the work of lawn maintenance completely.

BRIEF DESCRIPTION OF THE DRAWINGS

The objectives, technical solutions and beneficial effects of theembodiment of the present invention can be described in detail throughthe following specific embodiments capable of implementing the presentinvention.

The same signs and symbols in the drawings and description are used forrepresenting the same or equivalent elements.

FIG. 1 is a schematic diagram of a self-moving robot system of oneembodiment of the present invention.

FIG. 2 is a module diagram of a self-moving robot of one embodiment ofthe present invention.

FIG. 3 is a schematic diagram of a first specific solution of a firstmechanical interface and a second mechanical interface in FIG. 2.

FIG. 4 is a schematic diagram that a connecting end and amatching-connecting end are in a connecting state in the solution ofFIG. 3.

FIG. 5 is a schematic diagram of a second specific solution of a firstmechanical interface and a second mechanical interface in FIG. 2.

FIG. 6 is a schematic diagram that a connecting end and amatching-connecting end are in a connecting state in the solution ofFIG. 5.

FIG. 7 is a schematic diagram that a connecting end and amatching-connecting end are removed from a connecting state in thesolution of FIG. 5.

FIG. 8 is a schematic diagram of a third specific solution of a firstmechanical interface and a second mechanical interface in FIG. 2.

FIG. 9 is a schematic diagram that a connecting end and amatching-connecting end are switched to a connecting state from anon-connecting state in the solution of FIG. 8.

FIG. 10 is a schematic diagram that a connecting end and amatching-connecting end are in a connecting state in the solution ofFIG. 8.

FIG. 11 is a schematic diagram that a connecting end and amatching-connecting end are removed from the connecting state in thesolution of FIG. 8.

FIG. 12 is a schematic diagram that a self-moving module automaticallyseeks for and is automatically connected to a working module of oneembodiment of the present invention.

FIG. 13 is a schematic diagram that a self-moving module automaticallyseeks for and is automatically connected to a working module of anotherembodiment of the present invention.

FIG. 14 is a schematic diagram of a self-moving robot system of oneembodiment of the present invention.

FIG. 15 is a module diagram of a self-moving robot of one embodiment ofthe present invention.

FIG. 16 is a front view schematic diagram of a turning up state of aside wing of a self-moving robot of one embodiment of the presentinvention.

FIG. 17 is a front view schematic diagram of a falling-down state of aside wing of a self-moving robot in FIG. 16.

FIG. 18 is a bottom schematic diagram of a self-moving robot of oneembodiment of the present invention.

FIG. 19 is a schematic diagram of an autonomous mower system provided byan embodiment of the present invention;

FIG. 20 is a schematic diagram when an autonomous mower in theautonomous mower system in FIG. 19 works in a liquid-sprinkling state;

FIG. 21 is a module diagram of an autonomous mower in FIG. 20; and

FIG. 22 is a liquid sprinkling flowchart of the autonomous mower in FIG.20.

1, self-moving 3, working module 5, dock module 7, working area 11,control unit 13, first energy unit 15, first walking 17, first interface19, second working unit unit unit 21, detecting unit 211, RFID reader213, image capturing device 171, first energy 173, first control 175,first mechanical interface interface interface 33, second energy 35,second walking 37, second interface unit unit unit 39, first working371, second energy 373, second control unit unit interface 375, second43, guiding unit 411, RFID label mechanical interface 413, image 51,connecting end 71, matching- identifier connecting end 53, containinghole 55, electromagnet 57, sliding bush 58, clamping ball 59, spring 61,fastener 63, elastic member 73, bolt 75, permanent magnet 571,containing slot 731, clamping groove 611, pivoting shaft 613, firstrotary 615, second rotary 617, third rotary arm arm arm 733, bayonet618, clamping hook 12, side wing 101, self-moving 103, working area 131,grassland robot 133, road surface 111, control module 113, energy module115, driving module 117, mowing module 119, cleaning module 121, ground191, fan 193, air duct recognizing unit 201, autonomous 202, ground;204, dock; mower system; 210, autonomous 212, shell 2121, shell topmower; 2122, shell bottom 214, controller; 216, liquid sprinklingdevice; 2161, liquid box 2163, first pipeline 2165, second pipeline 218,working module; 220, walking module; 2201, wheel set 222, energy module;224, liquid level 226, liquid supplying monitoring module pipe 228,liquid pump 230, image capturing device

DETAILED DESCRIPTION

As shown in FIG. 1, in a first embodiment of the present invention, aself-moving robot system comprises a self-moving robot and a dock 5. Theself-moving robot comprises a self-moving module and at least one of aplurality of interchangeable working modules 3 connected to theself-moving module 1.The self-moving robot automatically cruises in aworking area 7 and executes work, and the dock 5 allows the self-movingrobot to park.

Reference is continuously made to FIG. 1, the dock 5 allows theself-moving robot to park when not in work, and the dock 5 is providedwith a parking location of the working module 3, which is configured topark a plurality of working modules 3. The self-moving robot can unload,connect or replace the working module 3 at the dock 5. In oneembodiment, the dock 5 is provided with a power source interface, whichcharges the self-moving robot.

As shown in FIG. 2, the self-moving module 1 comprises a control unit11, a first energy unit 13, a first walking unit 15 and a firstinterface unit 17 and also comprises a shell for mounting the respectiveunits above. A specific physical form of the control unit 11 isconfigured as a control circuit board where one or more processors,storages, other relates elements and corresponding peripheral circuitsare disposed. A control program is disposed in the control unit toexecute a predetermined command, and the self-moving robot is controlledto operate and cruise and work in the working area 7, and to return tothe dock 5 for replenishing energy and connect the required workingmodule 3. The first energy unit 13 comprises a chargeable battery pack,and the first energy unit 13 provides energy for the self-moving module1 or the self-moving robot. The first walking unit 15 comprises awalking motor and a walking part, and the walking motor drives thewalking part to move relative to the ground, so as to drive theself-moving module 1 or the self-moving robot to walk relative to theground. One or more walking motors are disposed, and the walking part isa structure well known in the industry such as a wheel set or a track,and is not repeated specifically.

In one embodiment, the self-moving module 1 comprises a second workingunit 19, configured to execute a specific type of work, for example,mowing. In one embodiment, the self-moving module does not have thesecond working unit 19.

There are many different types of working modules 3, and the specifictype of working module 3 executes the specific type of work. Forexample, if the type of the working module 3 is a mowing module, thenthe working module 3 executes mowing work; if the type of the workingmodule 3 is a snow sweeping module, then the working module 3 executessnow sweeping work; if the type of the working module 3 is a leafcollecting module, then the working module 3 executes a smashed leafcollecting; and if the type of the working module 3 is a blowing module,then the working module 3 executes blowing work, and so on, and noexamples are further made. Various types of working modules areinterchangeably connected to the self-moving module 1 above.

The working module 3 comprises a first working unit 39, a second walkingunit 35 and a second interface unit 37, and further comprises a shellfor mounting the respective units. The first working unit 39 executesthe specific working task above, its specific structure is differentaccording to different types of working modules 3, that is, differentaccording to different kinds of working tasks. For example, the firstworking unit 39 of the mowing module is a mowing working head, which atleast comprises a mowing blade; the first working unit 39 of the snowsweeping module is a snow sweeping working head; the first working unit39 of the leaf collecting module is a leaf collecting unit, which atleast comprises a sucking component for sucking smashed leaves and aleaf collecting bin for storing the smashed leaves, and the suckingcomponent comprises a sucking pipe and rotatable blades forming anegative pressure at the opening of the sucking pipe; and the firstworking unit 39 of the blowing module is a blowing unit, which at leastcomprises a blowing component, specifically comprising a blowing pipeand blades forming an outward airflow at the opening of the blowingpipe, etc. In one embodiment, the first working unit 39 of the workingmodule 3 comprises a working motor to output power required by work; andin another optional embodiment, the first working unit 39 shares a motorwith the working module 3 or other units of the self-moving module 1instead of comprising the working motor.

The second walking unit 35 comprises a walking part, driven to moverelative to the ground, such that the self-moving module or theself-moving robot is driven to walk relative to the ground. The walkingpart is a structure well known in the industry such as a wheel set or atrack, and is not repeated specifically. In the optional embodiment, thesecond walking unit 35 also comprises a walking motor, driving thewalking part to move. In other optional embodiments, the second walkingunit 35 does not comprise a walking motor, and the walking parts aremerely driven parts such as driven wheels, etc., which are driven by theself-moving module 3 to assist the working module 3 in moving.

In one embodiment, the working module 3 comprises a second energy unit33, comprising a chargeable battery pack, and the second energy unit 33provides energy for the working module 3 or the self-moving robot. Inthe present embodiment, the control unit 11 monitors an energy level ofthe first energy unit 13 and the second energy unit 33, controls thesecond energy unit 33 to provide energy for the working module 3 whenthe energy level of the second energy unit 13 is larger than a firstthreshold; and controls the first energy unit 13 to provide energy forthe working module 3 when the energy level of the second energy unit 33is smaller than the first threshold and the energy level of the firstenergy unit 13 is larger than a second threshold. In other optionalembodiments, the working module 3 may not comprise the second energyunit 33, and the energy required for the working module 3 to work comesfrom the self-moving module 1.

Reference is continuously made to FIG. 2, the first interface unit 17 ofthe self-moving module 1 and the second interface unit 37 of the workingmodule 3 can be correspondingly matched and connected to connect theworking module 3 onto the self-moving module 1. The first interface unit17 comprises a first mechanical interface 175, a first control interface173 and a first energy interface 171; the second interface unit 37 iscorrespondingly provided with a second mechanical interface 375, asecond control interface 373 and a second energy interface 371. When thefirst interface unit 17 and the second interface unit 37 are connected,the first mechanical interface 175 and the second mechanical interface375 are connected, the first energy interface 171 and the second energyinterface 371 are connected, and the first control interface 173 and thesecond control interface 373 are connected. The first mechanicalinterface 175 and the second mechanical interface 375 are connected tooptionally interlock the self-moving module 1 and the working module 3together to move together. The first control interface 173 and thesecond control interface 373 are connected to realize signaltransmission between the self-moving module and the working module, suchthat the self-moving module 1 can control the working module 3 to workby the first control interface 173 and the second control interface 373,and the working module 3 can feed various operation parameters andenvironmental information to the self-moving module 1. The first energyinterface 171 and the second energy interface 371 are connected torealize energy transmission between the self-moving module 1 and theworking module 3, for example, the self-moving module 1 transmits energyto the working module 3, or in turn, the working module 3 transmitsenergy to the self-moving module 1.

In one optional embodiment, the working module 3 is connected to anexternal power source interface through the self-moving module 1 toreceive charged energy. That is, the charging interface of theself-moving module 1 is connected to the power source interface toreceive the charged electric energy, then at least part of chargedelectric energy is transmitted to the second energy unit 33 of theworking module 3 through the first energy interface 171 and the secondenergy interface 371. In one design solution of the embodiment, thecharging interface of the self-moving module comprises a first chargingcontact group and a second charging contact group, the first chargingcontact group is connected to the first energy unit 13 to charge thesame, and the second charging contact group is connected to the secondenergy unit 33 through the first energy interface 171 and the secondenergy interface 373 to charge the second energy unit. In another designsolution of such embodiment, the charging interface of the self-movingmodule only comprises a group of charging contact group, and thecharging contact group is connected to the first energy unit 13 tocharge the same, and can be connected to the second energy unit 33through the first energy interface 171 and the second energy interface373 to charge the same.

In one optional embodiment, the working module 3 is directly connectedto an external power source interface to receive charged energy. Thatis, the working module 3 has a charging module adaptive to the powersource interface. The charging interface and the external power sourceinterface are both a wireless charging interface. Since it isunnecessary to equip a special charging location and charging circuitfor each working module 3, and the wireless charging interface solutioncan greatly reduce a charging cost when a plurality of working modules 3exist.

In one optional embodiment, the working module 3 can have both thefunction of being charged through the self-moving module and thefunction of being charged through direct connection to the externalpower source interface. In one design solution of such embodiment, theworking module 3 has a working interface and a second energy interface371 which are independent from each other and are respectivelyconfigured to directly connect the power source interface and the firstenergy interface 171. In another design solution of such embodiment, theworking module 3 can only have the second energy interface 371, andbesides the first energy interface 171, the second energy interface 371can also be directly connected to the external power source interface.

As shown in FIGS. 3 and 4, in one embodiment, the first mechanicalinterface 175 comprises at least one connecting end 51, the secondmechanical interface 375 comprises at least one matching-connecting end71, and the connecting ends 51 and the matching-connecting ends 71 arein one-to-one correspondence and are same in number. When the connectingends 51 and the matching-connecting ends 71 are correspondinglyconnected one to one, connection between the first mechanical interface175 and the second mechanical interface 375 is realized. The connectingend 51 comprises one containing hole 53, the matching-connecting end 71comprises a bolt 73, and the containing hole 53 contains the bolt 73 ina shape-matching manner. In the containing hole, In one embodiment, oneelectromagnet 55 is disposed on the bottom of the containing hole, andgenerates a magnetic force when electrified, and on the bolt 73, In oneembodiment, a material capable of attracting the electromagnet 55 isdisposed on the top of the bolt, which is a permanent magnet in thepresent embodiment. After the bolt 73 is inserted into the containinghole 53, the permanent magnet 75 and the electromagnet 55 abut againsteach other, and by changing a magnetic pole direction of theelectromagnet 55, the magnet poles of the abutted two ends are oppositeor same. Thus, the self-moving module can connect or unload the workingmodule 3 by controlling a magnetic pole direction of the electromagnet55. In other embodiments, the magnetic pole direction of theelectromagnet 55 can be fixed, the magnetic poles of the two abuttedmagnetic poles are always kept opposite in a electrified state, and byoptionally electrifying or disconnecting power of the electromagnet 55,the working module is correspondingly connected or unloaded.

In one embodiment, two connecting ends 51 and two matching-connectingends 71 are respectively disposed, which can be matched-connected one toone, and better connection stability is realized.

Specific disposing manners of the connecting end 51 and thematching-connecting 71 in FIGS. 3 and 4 are exemplary, and with suchthought, there are many possible transformation manners. For example,the disposing locations of the electromagnet 55 and the permanent magnet75 are interchangeable or the containing hole 53 is disposed in thesecond mechanical interface 375 and the bolt 73 is disposed on the firstmechanical interface 175. For another example, in order to guide ajointing direction, the containing hole 53 is designed into a conicalhole, and the bolt 73 is designed into a cone shape. For example, thecontaining hole 53 and the bolt 73 are cancelled and mutual connectionis realized directly depending on an electromagnetic force, etc.

As shown in FIGS. 7, 8, and 9, in another embodiment, similarly, thefirst mechanical interface 175 comprises at least one connecting end 51,the second mechanical interface 375 comprises at least onematching-connecting end 71, and the second mechanical interface 375comprises at least one matching-connecting end 71, and the connectingends 51 and the matching-connecting ends 71 are in one-to-onecorrespondence and are same in number. The connecting end 51 comprises acontaining hole 53, and the matching-connecting end 71 comprises a bolt73. A difference is that in the present embodiment, the self-movingmodule 1 and the working module 3 are not connected through anelectromagnetic force, and are connected through a clampingball-clamping groove matching-connecting structure.

Specifically as shown in FIG. 7, the side wall of the containing hole 53has a plurality of through holes, a clamping ball 58 is inseparablycontained in each through hole, a diameter of the clamping ball 58 isslightly larger than a thickness of the through hole and the clampingball 58 can move back and forth along a through direction of the throughhole. A sliding bush 57 also sleeves the side wall of the containinghole 53, the locations of the sliding bush 57 corresponding to thelocations of the through holes are correspondingly provided with aplurality of containing grooves 571, and the clamping balls 58 can bepartially contained in the containing grooves 571, can be separated fromthe containing holes after entering the containing grooves 571, and canbe separated from the containing grooves 571 when entering thecontaining holes 53. The sliding bush 57 can move front and back alongthe side wall of the containing hole 53, and one spring 59 abuts againstthe sliding bush 57 to cause the containing grooves 571 to be departedfrom the through holes. The side wall of the bolt 73 is provided withclamping grooves 731 consistent with the through holes in number.

As shown in FIG. 8, under a connecting state, the bolt 73 is insertedinto the containing hole 53, the clamping ball 53 falls in thecontaining hole 53 and is clamped in the clamping groove 731, the spring59 forces the sliding bush 57 to be in a location where the containinggroove 571 gets away from the through hole, the side wall of the slidingbush 57 compresses the clamping ball 58 into the clamping groove 731,such that the interlocking connection between the connecting end 51 andthe matching-connecting end 71 is realized and the interlockingconnection between the self-moving module 1 and the working module 3 isalso realized.

As shown in FIG. 9, when the self-moving module 1 and the working module3 need to get out of the connection, only the sliding bush is requiredto be driven to move against a force of the spring 59, such that thecontaining groove 571 and the through hole are aligned, the sliding bush57 is in an unlocking location, at this point, the self-moving module 1and the working module 3 move oppositely in a manner of being separatedfrom each other, then the clamping ball 58 is squeezed into thecontaining groove 571 to get away from the containing hole 53, and theinterlocking connection between the self-moving module 1 and the workingmodule 3 is removed.

In the present embodiment, connection between the self-moving module 1and the working module 3 can be established and removed automatically. Apermanent magnet can be disposed on the sliding bush 57, a matchedlocation on the self-moving module 1 is provided with an electromagnet,then when connection is established, when the first interface unit 17and the second interface unit 37 are aligned and approach to each other,the self-moving module 1 electrifies the electromagnet to attract thesliding bush 57 to move against a spring's force, the containing groove571 and the through hole are aligned, after the bolt 73 enters thecontaining hole 53 in place, the self-moving module 1 disconnects powerof the electromagnet, and the sliding bush 57 is rebounded to establishinterlocking connection. When the connection is removed, similarly, theelectromagnet attracts the sliding bush 57 to move to an unlockinglocation, after the self-moving module 1 moves and is removed from theconnection, the electromagnet is powered off, and the sliding bush 57 isrestored to the locking location.

As shown in FIGS. 10, 11, 12 and 13, in another embodiment, similarly,the first mechanical interface 175 comprises at least one connecting end51, the second mechanical interface 375 comprises at least onematching-connecting end 71, and the connecting ends 51 and thematching-connecting ends 71 are in one-to-one correspondence and aresame in number. The connecting end 51 comprises a containing hole 53,the matching-connecting end 71 comprises a bolt 73, and the containinghole 53 contains the bolt 73 in a shape-matching manner. Different fromthe former embodiment, the connecting end 71 is provided with apivotable fastener 61, the fastener 61 is disposed by penetrating sidewalls of part of the containing holes 53, and has a first rotary arm613, a second rotary arm 615 and a third rotary arm 617, and a pivotingshaft 611 located among the respective rotary arms. The first rotary armand the third rotary arm are at least partially located in thecontaining hole, the first rotary arm is connected to an elastic member63, and the tail end of the third rotary arm is provided with a clampinghook 618. The second rotary arm 615 is located outside the containinghole 53. The elastic member 63 obliquely presses the first rotary arm613 toward a direction causing the third rotary arm to be in a lockinglocation, and in the locking location, the clamping hook 618 is at leastpartially contained in the inner wall of the containing hole 53. In theembodiment of the present invention, the elastic member 63 comprises aspring seat and a spring, one end of the spring is mounted on the springseat, and the other end is connected to the first rotary arm 613. Thebolt 73 is provided with a bayonet 733, which is matched with theclamping hook 618 above. Specifically, the first rotary arm 613, theelastic member 63 and the pivoting shaft 611 are all basically locatedin the containing hole 53, the clamping hook 618 forms a slope towardthe side wall outside the containing hole 53, in a process that the bolt73 is inserted into the containing hole 53, the tail end of the bolt 73compresses the slope of the clamping hook 618 to enable the clampinghook 618 to overcome an oblique pressure of the elastic member 63 and tomove to an unlocking location from the locking location, in theunlocking location, the clamping hook 618 totally leaves from the innerwall of the containing hole 53, and then the bolt 73 is inserted intothe containing hole 53 till the bayonet 733 advances to a location wherethe claming hook 618 is, at this point, the elastic member 63 forces theclamping hook 618 to be restored to the clamping location, the clampinghook 618 and the bayonet 733 are locked, such that the self-movingmodule 1 and the working module 3 are connected together.

The second rotary wall 615 is basically located outside the containinghole 53, when the working module 3 is required to be separated from theself-moving module 1, only the oblique pressure of the elastic member 63needs to be overcome to poke the second rotary arm 615, the clampinghook 618 is separated from the bayonet 733, and then the working module3 can be unloaded.

In the present embodiment, connection between the self-moving module 1and the working module 3 can be established and removed automatically. Apermanent magnet can be disposed on the second rotary arm 615, a matchedlocation on the self-moving module 1 is provided with an electromagnet,then when connection is established, and when the first interface unit17 and the second interface unit 37 are aligned and approach to eachother, the self-moving module 1 electrifies the electromagnet to attractthe second rotary arm 615 to move to an unlocking location against aspring's force, after the bolt 73 enters the containing hole 53 inplace, the self-moving module 1 disconnects power of the electromagnet,the fastener 61 is rebounded, and the clamping hook 618 hooks thebayonet 733 to establish interlocking connection. When the connection isremoved, similarly, the electromagnet attracts the second rotary arm 615to move to the unlocking location, after the self-moving module 1 movesand is separated from the connection, the electromagnet is powered off,and the second rotary arm 615 is restored to a locking location.

Similarly, in one embodiment, two connecting ends 51 and twomatching-connecting ends 71 are respectively disposed, which can bematched-connected one to one, and better connection stability isrealized.

Similarly, the disposing manner of respective elements in the embodimentof the present invention can have many transformations, for example,locations of the containing hole 51 and the bolt 73 are interchanged,which are not repeated.

The locations of the first control interface 173 and the second controlinterface 373 are respectively correspondingly disposed, such that whenthe first mechanical interface 175 and the second mechanical interface375 are jointed successfully, the first control interface 173 and thesecond control interface 373 can also be jointed. Since the firstmechanical interface 175 and the second mechanical interface 375 have alocking function already, the first control interface 173 and the secondcontrol interface 373 may not be provided with locking-relatedstructures, and can be mutually simply matched in an inserting-pullingmanner. The first control interface 173 and the second control interface373 can be wired or wireless communication structures as long as signaltransmission can be realized.

Locations of the first energy interface 171 and the second energyinterface 371 are correspondingly disposed, such that when the firstmechanical interface 175 and the second mechanical interface 375 arejointed successfully, the first energy interface 171 and the secondenergy interface 371 can also be jointed. Since the first mechanicalinterface 175 and the second mechanical interface 375 already have thelocking function, the first energy interface 171 and the second energyinterface 371 may not be provided with locking-related structures, andcan be mutually simply matched in an inserting-pulling manner. Theenergy interface is configured to transmit energy between theself-moving module 1 and the working module 3, and a specific structureand realizing principle are well known by those skilled in the art andare not repeated herein.

After the first interface unit 17 and the second interface unit 37 arejointed, the self-moving module 1 drives the working module 3 to cruisein the working area 7 through connection between the first mechanicalinterface 175 and the second mechanical interface 375, and controls theworking module 3 to execute a specific working task through theconnection between the first control interface 173 and the secondcontrol interface 373. In some embodiments, the self-moving module 1 andthe working module 3 also transmit electric energy through the firstenergy interface 171 and the second energy interface 371.

In some embodiments, the self-moving module 1 is automatically jointedwith a specific working module 3 according to a preset program, andcruises and executes specific working tasks in the working area 7automatically.

The self-moving module 1 has a detecting unit to detect a target workingmodule 3 to be sought. The detecting unit 21 detects the working module3 and sends a detected result to the control unit 11. The control unit11 judges whether the working module 3 required to be connected isdetected according to the detected result, and when the judged result isyes, the control unit 11 controls a first walking unit 15 to walk, suchthat the self-moving module 1 is connected to the working module 3required to be connected. For example, the detecting unit 21 is an RFIDreader 211, while the working module 3 is provided with an RFID label411, and the RFID labels 411 on different working modules 3 havedifferent contents. Through such manner, when the self-moving module 1approaches each working module 3, the RFID reader 211 can read the RFIDlabel 211, the control unit 11 knows the specific type of the currentlyapproached working module 3 according to the detected result sent by theRFID reader, when recognizing that the current working module 3 is atype to be sought, the self-moving module 1 enters a jointing program,and the first interface unit 17 and the second interface unit 37 arejointed to connect the working module 3 onto the self-moving module 1.

In the jointing program, the self-moving module 11 advances along ajointing direction, and the jointing direction is a direction in whichthe first interface unit 17 and the second interface unit 37 can bealigned with each other to be connected. Specifically, according todisposing positions of the RFID reader 211 and the RFID label 411, theself-moving module 1 can correspondingly judge an approximate directionand distance of the working module 3 when the specific RFID label isrecognized, the self-moving module 1 adjusts a direction per se to thejointing direction according to estimated information, and moves to adirection in which the first interface unit 17 and the second interfaceunit 37 are close to and connected to each other, and jointing can berealized.

In an alternative embodiment, the self-moving module 1 advances alongthe jointing direction by recognizing a guiding unit 43 in the dock 3,the guiding unit 43 can be a guide line, magnetic strip, or the likecarrying a specific electric signal, the guiding unit 43 is disposedalong the jointing direction, and the self-moving module 1 uses acorresponding guidance sensing unit to recognize the guide line andmagnetic strip. In an alternative embodiment, a parking location of theworking module 3 is provided with a guide rail, which can guide theself-moving module to a precise jointing direction to assist jointing.The guide rail can be a splayed guiding lateral side with a wide outerpart and a narrow inner part, and after entering the guide rail, wheelsof the self-moving module 1 can be limited by the lateral side togradually enter the accurate jointing direction; and the guide rail canalso be a guide groove which is disposed with the wheels in anequal-width manner, and the guide groove guides the self-moving moduleto the accurate jointing direction. Of course, respective foregoingmanners for confirming the jointing direction can be combined for usethrough various arraying combining manners to increase a jointingaccuracy, for example, direction estimation of the RFID label,arrangement combined use of the guiding unit 43, etc., which is notrepeated.

In the jointing program, the self-monitoring module 1 monitors whetherthe jointing is successful, and quits the jointing program if thejointing is successful and enters a working program or other programs. Amanner for monitoring whether the jointing is successful is to monitorwhether the first control interface 173 or the first energy interface171 has a specific voltage, current, signal, or the like, which is notrepeated. In the working program, the self-moving robot leaves from thedock 5, and cruises and executes a specific working task in the workingarea 7.

The self-moving robot brings a connected working module 3 back to thecharging according to an external command or plans per se, and isdisjointed from the working module 3. The self-moving robot is returnedto the dock 5 at first, and a returning manner has been disclosed inprior art, for example, returned along a border, which is not repeated.After returned to the dock 5, the self-moving robot removes connectionbetween the self-moving module 1 and the working module 3. In analternative embodiment, the self-moving robot places the working modulein the parking location along the jointing direction and then removesthe connection between the self-moving module 1 and the working module3, and the jointing direction can be confirmed through the guide rail orguide line as mentioned above. In one embodiment, there are multipleparking locations, no one-to-one corresponding relationship existsbetween the parking locations and the working modules 3, and the workingmodules 3 can be placed in any idle parking locations freely; in anotherembodiment, there is a one-to-one corresponding relationship between theparking locations and the working modules 3, and after placing thecarried module 3 on the specific corresponding parking location, theself-moving module removes the connection between the self-moving module1 and the working module 3. A connection removing manner is differentaccording to different connection forms, for example, in the foregoingelectromagnetic force jointing manner, the self-moving module 1 realizesconnection removal by canceling the electromagnetic force on theelectromagnetic force.

In another embodiment, the detecting unit 21 is an image capturingdevice 213, while a specific image identifier 413 is disposed on theworking module 3, and the image identifiers 413 on different workingmodules 3 have different contents. The image identifier 413 can be atwo-dimensional code, a bar code or other standard patterns. The imageidentifier 413 can also be a combination of other manners such asspecific colors or specific shapes, etc. When approaching to eachworking module 3, the self-moving module 1 carries out image capturingand recognizing when approaching to each working module 3, judges theworking module 3 carrying the image identifier to be the target workingmodule 3 when recognizing the specific image identifier 413 such as aspecific two-dimensional code, a bar code or other patternscorresponding to the target working module 3, and then enters thejointing program, and the first interface unit 17 and the secondinterface unit 37 are jointed to connect the target working module 3 onthe self-moving module 1.

In the jointing program, the self-moving module 1 advances along thejointing direction similarly. Specifically, according to the size of therecognized image identifier 413, a disposing manner of the imageidentifier 413, and the like, the self-moving module 1 cancorrespondingly estimate an approximate direction and distance of thetarget working module 3 when the specific image identifier 413 isrecognized, the self-moving module 1 adjusts a direction per se to thejointing direction according to estimated information, and moves to adirection in which the first interface unit 17 and the second interfaceunit 37 are close to and connected to each other, and jointing can berealized.

Similarly, in an alternative embodiment, the self-moving module 1advances along the jointing direction by recognizing the guiding unit 43in the dock 5, or assists jointing through the guide rail, and aspecific manner is as mentioned above and is not repeated. Of course,the respective foregoing manners for confirming the jointing directioncan be combined for use through various arraying combining manners toincrease a jointing accuracy.

In the jointing program, a manner for monitoring whether the self-movingmodule 1 is jointed successfully is as mentioned above and is notrepeated.

The self-moving robot also brings a connected working module 3 back tothe charging according to an external command or plans per se, and isdisjointed from the working module 3. The specific manner is asmentioned above and is not repeated.

In another embodiment, similarly, the detecting unit is an imagecapturing device, a difference from the former embodiment is that theworking module 3 has no specific image identifier, and the self-movingmodule 1 judges whether it is the target working module 3 by recognizingthe shape, color, texture or a combination thereof of the working module3.

In other embodiments, the self-moving module 1 also has a detecting unit23, but a difference from each embodiment mentioned above is that thedetecting unit 23 and the working module 3 have features or identifiersin a corresponding external environment instead of directly recognizingthe features on the working module 3 or the identifier of the workingmodule. For example, each specific working module 3 is parked at aspecific parking location of the dock 5, and the specific parkinglocation has a working module identifier corresponding to the specificworking module 3. When seeking for the specific target working module 3,the self-moving module 1 only needs to seek for the working moduleidentifier corresponding to the target working module 3 and located inthe specific location, then the target working module 3 can be located,then the jointing program is entered, and the first interface unit 17and the second interface unit 37 are jointed to connect the targetworking module 3 on the self-moving module 1. In these embodiments,optionally, the detecting unit 23 also recognizes the features on theworking module 3 or the identifier of the working module, its specificimplementing manner and corresponding arrangement on the working module3 are mentioned as the former embodiment and are not repeated hereanymore.

For example, in the optional embodiment, the dock 5 has a plurality ofdocking locations, each parking location is respectively configured topark different specific working modules 3, and respective specific RFIDlabels 411 are disposed in respective parking locations. While thedetecting unit 23 on the self-moving module 1 is an RFID reader 211,Through such manner, when the self-moving module 1 approaches to eachworking modules 3, an RFID label 211 can be read, further a specifictype of the working module 3 that is currently approached can be known,when recognizing that the current working module 3 is in the type to besought, the self-moving module 1 enters a jointing program to joint thefirst interface unit 17 and the second interface unit 37 so as toconnect the target working module 3 onto the self-moving module 1.

For another example, in another optional embodiment, similarly, the dock5 has a plurality of parking locations for parking different specificworking modules 3, a difference is that the detecting unit 23 is animage capturing device, while a specific image identifier 413 isdisposed on the parking location and the image identifiers 413 on theparking locations where different specific working modules 3 are at aredifferent from one another. The image identifier 413 can be atwo-dimensional code, a bar code or other standard patterns. The imageidentifier 413 can also be a combination of other manners such asspecific colors or specific shapes, etc. The image identifier 413 can belocated on the bottom surface in an entrance of the parking location,and can also be located behind the parking location or on the uprightwall of the side surface, and of course, other locations proper for theimage capturing devices 213 can also be used. The self-moving module 1carries out image capturing and recognizing when approaching to eachworking module 3, judges the working module 3 carrying the imageidentifier to be the target working module 3 when recognizing thespecific image identifier 413 such as a specific two-dimensional code, abar code or other patterns corresponding to the target working module 3,and then enters the jointing program, and the first interface unit 17and the second interface unit 37 are jointed to connect the targetworking module 3 on the self-moving module 1.

In another embodiment, similarly, the dock 5 has a plurality of parkinglocations to park different specific working modules 3, and a differenceis that the working identifier in the parking location is a guidingidentifier guiding the self-moving module to be jointed with the workingmodule. In such embodiment, it is unnecessary to separately dispose theguiding unit 43 in the former embodiment in the dock. In one alternativeembodiment, the guiding identifier is a guide line carrying an electricsignal, the guide lines corresponding to different specific workingmodules 3 have different electric signals, for example, differentcurrent frequencies, or the carried electric signals have differentwaveforms, etc., which is not repeated. The detecting unit 23correspondingly comprises an inductor inducing an electromagnetic signalgenerated by the guide line in the environment. The guide line isdisposed on the bottom surface of the parking location and extends outof the parking location, after recognizing the electric signalcorresponding to the target working module 3, the self-moving module 1accurately approaches the target working module 3 in the parkinglocation by walk along the guide line where the electric signal isgenerated, the guide line is disposed to correspond to a jointing track,and the self-moving module 1 can be accurately jointed with the workingmodule 3 as long as it walks along the guide line. “Walks along theguide line” can be “walks across the guide line or walk against theguide line by a certain distance”.

In another embodiment, similarly, the dock 5 has a plurality of parkinglocations to park different specific working modules 3, and the specificidentifier in the parking location is a guiding identifier guiding theself-moving module 1 to be jointed with the working module 3. Adifference from the former embodiment is that the guiding identifier isa magnetic track, the magnetic tracks corresponding to differentspecific working modules have different parameters, for example,different intensities of magnetic fields, et., and the detecting unit 23corresponds to a magnetic induction sensor recognizing the magnetictrack. Other content is same as the former embodiment and is notrepeated.

A working plan manner of the self-moving robot is introduced below.

At first, the self-moving robot has a well-set working period andnonworking period, in the working period, the self-moving robot executesvarious working tasks and is automatically returned to the dock 5 to becharged after energy is used up, and in the nonworking period, theself-moving robot does not work and is parked in the dock 5. Typically,a user can set eight o′clock to eighteen o′clock from Monday to Fridayas the working period and other time as the nonworking period.

In the working period, the self-moving module 1 carries each workingmodule 3 for working in sequence according to a set time sequence. Forexample, when each working module 3 comprises a mowing module, afertilizing module and a watering module, the self-moving module 3firstly connects the mowing module to mow for three hours, then thefertilizing module is connected to fertilize for three hours, andfinally the watering module is connected to water for three hours.During the mowing work, the self-moving module 1 and the mowing moduleperiodically enter the working area for mowing the lawn, and arereturned to the charging station to be subjected to energyreplenishment, and the operation is similar during the fertilizing workand the watering work.

A second embodiment of the present invention is introduced incombination with FIGS. 14-18.

The self-moving robot system as shown in FIG. 14 comprises a self-movingrobot 101 and a dock 5. The self-moving robot automatically cruises andexecutes work in the working area 103, and the dock 5 allows theself-moving robot to park. The working area 103 comprises a grassland131 and a road surface 133, a turf exists above the grassland 131, thereis no turf above the road surface 133 for people and cars to walk, theroad surface 133 not only comprises a narrow path but also comprises awide non-grassland area for people to stop or move, for example, acourtyard without grass and a sports ground, etc.

In one embodiment, the self-moving robot system comprises a virtualborder, for example, a border wire, an infrared wall or an RFID label,etc., around the working area 3; and in one embodiment, the virtualborder divides the working area 3 into a plurality of subareas, forexample, at least one grassland area and at least one road surface area.

Reference is continuously made to FIG. 1, the dock 5 allows theself-moving robot 101 to work when not in work, and in one embodiment,the dock 5 is provided with a power source interface which charges theself-moving robot 101.

As shown in FIG. 2, the self-moving robot 101 comprises a control module111, an energy module 113, a driving module 115, a mowing module 117 anda cleaning module 119, and further comprises a shell for mounting therespective units above.

A specific physical form is configured as a control circuit board whereone or more processors, storages, other relates elements andcorresponding peripheral circuits are disposed. A control program isdisposed in the control unit to execute a predetermined command, and theself-moving robot 101 is controlled to operate and cruise and work inthe working area 103, to return to the dock 5, etc. The energy module113 provides working energy for the self-moving robot 101 and can be aproper energy storage such as a chargeable battery pack and a solarenergy collecting and storage device. The driving module drives 115drives the self-moving robot 101 to move on the ground, and usuallycomprises a wheel set, and can also comprise a track, a mechanical foot,etc., the driving module 115 can comprise a special power source, suchas a driving motor, and can also share a power source with othermodules. The mowing module 117 is configured to execute mowing andcomprises a cutting element such as a cutter head carrying a throwingblade, a cutter bar or mowing rope; the mowing module 117 can comprise aspecial power source, such as a driving motor, and can also share apower source with other modules. The cleaning module 119 is configuredto execute ground cleaning work, for example, sweeping, dust collecting,fallen leaf blowing, fallen leaf sucking, etc., the cleaning module 119can comprise a sweeping module, an air sucking module, a blowing moduleor blowing-sucking module, etc., and the cleaning module 119 cancomprise a special power source, such as a driving motor, and can alsoshare a power source with other modules.

The self-moving robot 101 has a mowing mode and a cleaning mode, underthe mowing mode, the self-moving robot 101 can automatically cruise andexecute mowing work on the grassland 131, and under the cleaning mode,the self-robot 1 can automatically cruise and execute cleaning work.When executing the mowing work, the mowing module of the self-movingrobot 101 is started and the cleaning module is stopped; and on thecontrary, when cleaning work is executed, the mowing module is stoppedand the cleaning module is started. Under the cleaning module, accordingto different application scenarios, in some embodiments, the self-movingrobot merely executes cleaning work on the grassland; and in some otherembodiments, the self-moving robot executes cleaning work on thegrassland; in some other embodiments, the self-moving robot merelyexecutes cleaning work on the grassland and the road surface; and insome other embodiments, the self-moving robot optionally executescleaning work on the grassland merely or on the road surface merely, orexecutes cleaning work on the grassland and the road surface. Forexample, when the cleaning module mainly executes the road surfacesweeping work, the self-moving robot merely executes the cleaning workon the road surface under the cleaning mode; and when the cleaningmodule mainly executes the fallen leaf cleaning work and fallen leavesfall on the grassland, the self-moving robot executes cleaning work onthe road surface and the grassland.

In some embodiments of the present invention, the self-moving robot 101also comprises a ground recognizing unit 121 so as to recognize a groundtype to be the grassland or road surface. In some embodiments, when theself-moving robot moves to the area of the road surface 133 from thearea of the grassland 131, the ground recognizing unit 121 will transmita recognized result of the target area to the control module 111, thecontrol module 111 controls the self-moving robot to be converted to thecleaning mode from the mowing mode, that is, the mowing module isstopped and the cleaning module is started. When the self-moving robotmoves from the area of the road surface 133 toom the area of thegrassland 131, the ground recognizing unit 121 will transmit arecognized result of the target area to the control module 111, thecontrol module 111 controls the self-moving robot to be converted to themowing mode from the cleaning mode, that is, the cleaning module isstopped and the mowing module is started.

In one embodiment, the ground recognizing element 121 comprises a cameraand a recognizing element connected to the camera. The camera captures aground image of the target area and transmits to the recognizing unit, aground type judging algorithm is preset in the recognizing element, andthe recognizing element extracts image features and transmits to theground type judging algorithm to judge the target area to be thegrassland or road surface. The image feature can be different along withdifferent ground type judging algorithms. In one embodiment, the imagefeatures comprise a color pixel value of a target area image, the groundtype judging algorithm is to form obtained pixel values into a colordistribution map, a peak value area with the most color areas in thedistribution map is compared with preset area values, if the peak valuearea in the distribution map is between the preset area values, then theground type is judged to be grassland, otherwise, the ground type isjudged to be the road surface. In some embodiments, the ground presetalgorithm can adopt other image-based grassland recognizing algorithms,which are not enumerated one by one here.

In one embodiment, the ground type recognizing unit 121 comprises aground hardness sensor and a recognizing element connected to the groundhardness sensor. The ground hardness sensor comprises ground hardnessinformation of the target area and transmits to the recognizing element,a ground type judging algorithm is preset in the recognizing element,and the recognizing element inputs ground hardness information to theground type judging algorithm to judge the target area to be thegrassland or road surface. According to different adopted hardnesssensors, the ground hardness sensors can be disposed in differentlocations of the self-moving robot. In one embodiment, the groundhardness sensor can be disposed on a wheel of the self-moving robot, andconfigured to detect a ground hardness value in real time. In otherembodiments, the ground hardness sensor can be disposed on a shell ofthe self-moving robot. The ground type judging algorithm judges theground type of the target area according to a ground hardness given bythe ground hardness sensor, and judges the target area to be the roadsurface when the ground hardness value is larger than or equal to apreset value, otherwise judges the target area to be the grassland. Insome embodiments, the ground preset algorithm can adopt other hardnessinformation-based road surface recognizing algorithms.

In one embodiment, the ground type sensor can be disposed on the borderbetween the grassland 131 and the road surface 133. When the self-movingrobot approaches to the border between the grassland 131 and the roadsurface 133, the ground hardness sensor can emit a notifying signal tothe self-moving robot. The ground type judging algorithm judges whetherthe self-moving robot enters the grassland or the road surface accordingto different received notifying signals.

In one embodiment, the control module 111 also comprises a mode controlunit. The mode control unit controls the self-moving robot to beswitched between the mowing mode and the cleaning mode according to apreset program. The mode control unit allocates time when theself-moving robot is in the mowing mode and time when the self-movingrobot is in the cleaning mode according to date or season information.In one embodiment, the preset program can store a time ratio table oftime when the self-moving robot is in the mowing mode to the time whenthe self-moving robot is in the cleaning mode according to growthrhythms of grass in respective regions of the whole world, and theserhythms can be known through data of meteorological statistics. Forexample, a growth speed of the grass in the Chinese region is fastest insummer, then is slower in spring and autumn and is slowest in winter,and then the time ratio table in the preset program is as shown in Table1

TABLE 1 Date November- February- May- August- January of Season AprilJuly October the next year Mowing 80% 100% 20%  0% time ratio Cleaning20%  0% 80% 100% time ratio

Table I merely gives percent data of one embodiment, and for a specifictime ratio of the mowing mode and the cleaning mode in specific time, auser can set according to an own location or a habit.

In the embodiment of the present invention, the cleaning module 119 is aleaf cleaning module, which is a blowing module, air sucking module orsweeping module. The sweeping module 119 can be located below or asideof the shell of the self-moving robot. In one embodiment, as shown inFIGS. 16 and 17, a movable side wing 12 is disposed aside the shell ofthe self-moving robot 101, and the side wing 12 is provided with acleaning module 119. As shown in FIG. 16, when in the mowing mode, theside wing 12 is folded against the lateral side of the shell; and asshown in FIG. 17, when in the cleaning mode, the side wing 12 fallsdown, and the cleaning module operates to work under driving of thedriving module.

In one embodiment, the cleaning module 119 is a blowing module. Theblowing module can comprise a fan 1191, and the fan drives the airflowsto move to blow garbage such as leaves or dust scattered on the roadsurface away or together. In one embodiment, as shown in FIG. 18, theblowing module comprises a fan 1191 and an air duct 1193 communicatedwith the fan 1191, and the fan 1191 is located below the shell of theself-moving robot 101. When the cleaning module is started, the drivingmodule drives the fan 1191 to generate airflows, which blow toward theroad surface through the air duct 1193, so as to blow garbage, such asleaves or dust around the air duct opening, away or together. In otherembodiments, the blowing module can also be located aside the shell ofthe self-moving robot.

In one embodiment, the cleaning module 119 is an air sucking module,comprising a fan, an air duct and a dust collecting device, and garbagesuch as leaves or dust on the road surface is sucked into the dustcollecting device by generating airflows through the fan. The airsucking module can be located below or aside the shell of theself-moving robot. In one embodiment, the air sucking module may notcomprise the dust collecting device, and the garbage such as leaves ordust is directly discharged through a dust discharging port.

In one embodiment, the cleaning module 119 is a sweeping module.Specifically, the sweeping module can be a sweeping brush or roller. Thesweeping module can be located below the aside the shell of theself-moving robot. In one embodiment, the sweeping module is locatedbelow the shell, and when the cleaning mode is started, the drivingmodule drives the sweeping module to operate to sweep the road surface.

In one embodiment, the cleaning module 119 is detachably mounted on theshell. When the cleaning module is damaged or too dirty, a user candetach the cleaning module for replacement or cleaning. A detachablestructure comprises a common fastener connecting structure, such asbolt-nut connection, screw connection and the like; and the detachablestructure also comprises fastener-free connection, such as buckleconnection, and shape connection.

The present invention is not limited to the listed specific embodimentstructures, and the structures based on the concept of the presentinvention all belong to a protective scope of the present invention,

A third specific embodiment of the present invention is furtherexplained in detail in combination with FIGS. 19-22.

FIG. 1 is a self-moving robot system of one embodiment of the presentinvention, and is an autonomous mower system 201 specifically, which isdisposed on the ground 202. Usually, the ground 202 is divided into aworking area (not shown) and a nonworking area (not shown), betweenwhich a border line forms a border.

The autonomous mower system 201 comprises a dock 204 and an autonomousmower 210 configured to automatically walk and mow on the ground 202,and the dock 204 is disposed on the peripheral border of the workingarea generally.

Reference is made to what are shown in FIGS. 19 to 21, FIG. 20 is aschematic diagram that the autonomous mower 210 is in a liquidsprinkling state, and FIG. 21 is a module diagram of the autonomousmower in FIG. 20.

The autonomous mower 210 comprises a shell 212, a containing cavitybeing formed in the shell 212, a controller 214 mounted in thecontaining cavity to control the autonomous mower 210 to automaticallywalk and mow and a liquid sprinkling device 216 controlled by thecontroller 214 to perform liquid sprinkling work.

The autonomous mower 210 further comprises a working module 218, awalking module 220, and an energy module 222. The controller 214 isconnected to the liquid sprinkling device 216, the working module 218,the walking module 220 and the energy module 222.

The working module 218 is configured to execute specific work. In thepresent embodiment, the working module 218 is specifically a cuttingmodule, and comprises a cutting part (not shown) for cutting and acutting motor (not shown) driving the cutting part. Specifically, theshell 212 comprises a shell bottom 2122 and an opposite shell top 2121,the cutting part is mounted on the shell bottom 2122 and the cuttingmotor is mounted in the containing cavity of the shell 212.

The walking module 220 comprises a wheel set 2201 driving the autonomousmower 210 to walk and a walking motor (not shown) driving the wheel set2201. Specifically, the wheel set 2201 is mounted on the shell bottom2122, and the walking motor is mounted in the containing cavity of theshell 212. There are many disposing methods for the wheel set. Usuallythe wheel set comprises a driving wheel driven by a driving motor and anauxiliary wheel supporting the shell in an auxiliary manner, and one,two or more driving wheels can be disposed.

The energy module 222 is configured to provide energy for operation ofthe autonomous mower 210. Energy of the energy module 222 can begasoline, a battery pack or the like, in the present embodiment, theenergy module 222 comprises a chargeable battery pack (not shown)disposed in the shell 212. In work, the battery pack releases electricenergy to keep the autonomous mower 210 working. When not in work, thebattery can be connected to an external power source to replenishelectric energy. Particularly, in view of a more humanized design, whenthe controller 214 detects that electricity of the battery isinsufficient, the autonomous mower 210 will seek for the dock 204 forcharging to replenish electric energy.

The liquid sprinkling device 216 is controlled by the controller 214,which can perform the liquid sprinkling work automatically.Specifically, the liquid sprinkling device 216 comprises a liquid box2161 and a pipeline communicated with the liquid box 2161. The liquidbox 2161 is mounted in the containing cavity for containing the liquid;one end of the pipeline is communicated with the liquid box 2161, andthe other end extends out of the shell 212 from the containing cavity.The controller 214 is configured to control the liquid to get in or outof the liquid box 2161. Of course, the liquid here can be water, liquidfertilizer or pesticide.

In one embodiment, the pipeline comprises a first pipeline 2163 forliquid feeding and a second pipeline 2165 for liquid sprinkling, one endof the first pipeline is communicated with the liquid box 2161, and theother end extends out behind the shell 212; one end of the firstpipeline 2165 is communicated with the liquid box 2161 and the other endextends out above the shell 212.

In order to better know a condition of a liquid level in the liquid box2161, In one embodiment, the autonomous mower 210 also comprises aliquid level monitoring module 224, configured to monitor the liquidlevel in the liquid box 2161, and convert liquid level information inthe liquid box 2161 into an electric signal capable of being recognizedby the controller 214 and transmit to the controller 214, and thecontroller 214 judges whether liquid needs to be replenished to theliquid box 2161 according to the liquid level.

Besides charging the autonomous mower 210, the dock 204 is connected toa liquid supplying pipe 226 for replenishing liquid into the liquid box2161 of the liquid sprinkling device 216. By taking water sprinkling asan example, when the controller 214 detects that water needs to bereplenished to the liquid box 2161, the controller 214 controls theautonomous mower 210 to be returned to the dock 204, at this point, thefirst pipeline 2163 is jointed with the liquid supplying pipe 226, thecontroller 214 opens the first pipeline 2163 for water in the liquidsupplying pipe 226 to enter the liquid box 2161 through the firstpipeline.

Specifically, when the autonomous mower 210 performs liquid sprinklingwork, the liquid level monitoring module 224 will detect the liquidlevel in the liquid box in real time, when the liquid level in theliquid box 2161 is in a preset liquid level range, the controller 214controls the autonomous mower 210 to continuously perform the liquidsprinkling work; while when the liquid level is lower than the presetliquid level range, the controller 214 controls the liquid sprinklingdevice 216 to stop liquid sprinkling, meanwhile, the controller 214controls the walking module 220 to enable the autonomous mower 210 to bereturned to the dock 204 to replenish liquid to the liquid box 2161.

The autonomous mower 210 also comprises a liquid pump 228 mounted in thecontaining cavity, when the autonomous mower 210 performs the liquidsprinkling work, the controller 214 controls the liquid pump 228, whichoptionally enables the liquid in the liquid box 2161 to be sprinkled outfrom the second pipeline 2165.

In one embodiment, in order to improve walking regularity of theautonomous mower 210 and prevent work repeating or work omission of theautonomous mower 210, the autonomous mower 210 also comprises a pathplanning system, so as to improve working efficiency and quality.

Specifically, in the present embodiment, the path planning system is animage capturing module 230. The autonomous mower 210 comprises an imagecapturing module 230, configured to shoot a front area of the autonomousmower 210 and generate a picture corresponding to the front area, andthe controller 214 is configured to parse the picture to determine alocation and path of the autonomous mower 210. Thus, the autonomousmower 210 can perform mowing or liquid sprinkling work without repeatingand omission in the working area according to a certain rule. Meanwhile,when the autonomous mower 210 performs mowing or liquid sprinkling work,if charging or liquid replenishing is required midway, the autonomousmower can be returned to the location where the mowing or liquidsprinkling is stopped last time in combination with the image capturingmodule 230, and working efficiency of the autonomous mower 210 isimproved.

In another embodiment, the path panning system can be a locating device.The autonomous mower comprises the locating device (not shown),configured to recording walking coordinates when the autonomous mowerperforms the sprinkling work, the controller analyzes the coordinates todetermine the location and path of the autonomous mower, and judgeswhether liquid has been sprinkled in the coordinate location, and ifnot, the controller controls the autonomous mower to perform sprinklingwork.

How the autonomous mower 210 performs the liquid sprinkling work isintroduced in detail in combination with the module diagram of FIG. 3and the flowchart of FIG. 22.

At first, in step S0, the autonomous mower 210 receives an automaticliquid sprinkling command; step S2 is entered, the liquid levelmonitoring module 224 detects a liquid level in the liquid box 2161, andmeanwhile, converts the detected liquid level information into anelectric signal capable of being recognized by the controller 214 totransmit to the controller 214, and the controller 214 judges whetherthe liquid level in the liquid box is in a preset liquid level range.

In step S4, whether the liquid level in the liquid box is lower than thelower limit of the preset liquid level range is judged, if a judgedresult is yes, then the controller 214 controls the walking module 220to be returned to be dock 204 for liquid replenishment, as shown in stepS6, specifically, the first pipeline of the liquid sprinkling device 216is communicated with the liquid supplying pipe 226, the first pipeline2163 has a switch, the controller 214 turns the switch on, and theliquid in the liquid supplying pipe 226 flows into the liquid box 2161from the first pipeline 2163. In a liquid replenishing process of theautonomous mower 210, the liquid level monitoring module 224 detects theliquid level in the liquid box 2161 in real time, as shown in step S8,and whether the liquid level in the liquid box 2161 reaches the upperlimit of the preset liquid level range is judged. If not, S6 isrepeated, and the liquid box is subjected to liquid replenishingcontinuously; if yes, it is indicated that the liquid box 2161 is fullof replenished liquid, step S12 is entered, the controller 214 turns offthe switch of the first pipeline 2163, and the autonomous mower 210stops liquid replenishing and leaves from the dock 204. Then, step S14is entered, the autonomous mower 210 regularly performs liquidsprinkling work in the working area in combination with the pathplanning system, specifically, the controller 214 controls the liquidpump 228 such that the liquid in the liquid box 2161 is sprinkledoutward from the second pipeline 2165.

In step S4, if the judged result is no, i.e., the liquid in the liquidbox is higher than the lower limit of the preset liquid level range,then step S14 is entered.

In step S14, that is, in the liquid sprinkling process of the autonomousmower 210, the liquid level monitoring module 224 monitors a liquidlevel in the liquid box 2161 in real time, and as shown in step S16,judges whether the liquid level in the liquid box is in the presetliquid level range.

In step S18, that is, whether the liquid level in the liquid box islower than the lower limit of the preset liquid level range is judged,if the judged result is yes, then step S20 is entered, then controller214 controls the autonomous mower to be returned to the dock 204 forliquid replenishing, and a specific liquid replenishing process isintroduced before, and is not repeated herein. Meanwhile, as shown instep S22, in the liquid replenishing process of the autonomous mower210, the liquid level monitoring module 224 detects the liquid level inthe liquid box 2161 in real time and judges whether the liquid level inthe liquid box 2161 has reached the upper limit of the preset liquidlevel range, as shown in step S24. If not, S20 is repeated tocontinuously replenish liquid to the liquid box; if yes, it is indicatedthat the liquid box 2161 is full of the replenished liquid, step S26 isentered, the autonomous mower 210 stops liquid replenishing and leavesfrom the dock 204. Then step S28 is entered, the autonomous mower 210 isreturned to the location where the liquid sprinkling last time isstopped in combination with the path planning system to continuouslysprinkle liquid. Then step S16 is entered.

In step S18, if the judged result is no, then step S30 is entered, thatis, whether the autonomous mower has finished the liquid sprinklingworking of all working area is judged through the path planning system.If the judging result is yes, that is, the autonomous mower has finishedall liquid sprinkling work, then step S32 is entered, and the controller214 controls the autonomous mower 210 to stop liquid sprinkling work;and if the judged result is no, then step S14 is repeated.

The autonomous mower provided by the embodiment of the present inventionintegrates the automatic liquid sprinkling function in addition to thebasic function of automatic mowing, application of the autonomous moweris expanded, and use requirements of the user on many aspects are met.

Those skilled in the art can conceive that the present invention alsohas other implementing manners as long as the adopted technical essenceis same as or similar to that of the present invention, or any changeand substitution made based on the present invention are in theprotective scope of the present invention.

What is claimed is:
 1. A self-moving robot, comprising a shell, adriving module, driving the self-moving robot to move on the ground; amowing module, executing mowing work; an energy module, providing energyfor the self-moving robot; a control module, controlling the self-movingrobot to automatically move and execute work, wherein, the self-movingrobot further comprises a cleaning module executing ground cleaningwork; the self-moving robot has a mowing mode and a cleaning mode, underthe mowing mode, the control module controls the self-moving robot toexecute mowing work, and under the cleaning mode, the control modulecontrols the self-moving robot to execute cleaning work.
 2. Theself-moving robot according to claim 1, wherein the self-moving robotalso comprises a ground recognizing unit, which collects groundinformation of a target area and judges the target ground to be agrassland or road surface.
 3. The self-moving robot according to claim2, wherein the control module, according to a recognized result of theground recognizing unit on the target area, controls the self-movingrobot to be kept on the grassland under the mowing mode to executemowing work and to be kept on the road surface under the cleaning modeto execute cleaning work.
 4. The self-moving robot according to claim 2,wherein the control module, according to a recognized result of theground recognizing unit on the target area, is switched to the cleaningmode from the mowing mode when the self-moving robot moves to the roadsurface from the grassland; and is switched to the mowing mode from thecleaning mode when the self-moving robot moves to the grassland from theroad surface.
 5. The self-moving robot according to claim 2, wherein thecontrol module, according to a recognized result of the groundrecognizing unit on the target area, controls the self-moving robot tobe in the mowing mode when it is on the grassland, and controls theself-moving robot to be in the cleaning mode when it is on the roadsurface.
 6. The self-moving robot according to claim 2, wherein theground recognizing unit comprises a camera and a recognizing elementconnected to the camera; the camera captures a ground image of thetarget area and transmits to the recognizing unit, a ground type judgingalgorithm is preset in the recognizing element, and the recognizingelement extracts image features and transmits to the ground type judgingalgorithm to judge the target area to be the grassland or road surface.7. The self-moving robot according to claim 2, wherein the groundrecognizing unit comprises a ground hardness sensor and a recognizingelement connected to the ground hardness sensor; the ground hardnesssensor collects the ground hardness information of the target area andtransmits the recognizing element, a ground type judging algorithm ispreset in the recognizing element, and the recognizing element inputsthe ground hardness information to the ground type judging algorithm tojudge the target area to be the grassland or road surface.
 8. Theself-moving robot according to claim 1, wherein the control modulecomprises a mode control unit, which controls the self-moving robot tobe switched between the mowing mode and the cleaning mode according to apreset program. claim 8
 9. The self-moving robot according to claim 8,wherein the mode control unit allocates time when the self-moving robotis in the mowing mode and time when the self-moving robot is in thecleaning mode according to date or season information.
 10. Theself-moving robot according to claim 1, wherein the cleaning module is aleaf cleaning module configured to clean leaves.
 11. The self-movingrobot according to claim 10, wherein the leaf cleaning module is ablowing module, an air sucking module or sweeping module.
 12. Theself-moving robot according to claim 1, wherein the cleaning module isdetachably mounted on the shell.